/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "Arm_task.h"
#include "chassis_task.h"
#include "vofa.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
osThreadId chassisTaskHandle;
osThreadId armTaskHandle;


/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for chassis_task */
osThreadId_t chassis_taskHandle;
const osThreadAttr_t chassis_task_attributes = {
  .name = "chassis_task",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityHigh,
};
/* Definitions for Arm_task */
osThreadId_t Arm_taskHandle;
const osThreadAttr_t Arm_task_attributes = {
  .name = "Arm_task",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityHigh,
};
/* Definitions for Shoot_task */
osThreadId_t Shoot_taskHandle;
const osThreadAttr_t Shoot_task_attributes = {
  .name = "Shoot_task",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityHigh1,
};
/* Definitions for ErrorHandle_tas */
osThreadId_t ErrorHandle_tasHandle;
const osThreadAttr_t ErrorHandle_tas_attributes = {
  .name = "ErrorHandle_tas",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityBelowNormal1,
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void *argument);
extern void Chassis_Task(void *argument);
extern void Arm_Task(void *argument);
extern void Shoot_Task(void *argument);
extern void ErrorHandle_Task(void *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
	
//		osThreadDef(ChassisTask, chassis_task, osPriorityAboveNormal, 0, 512);
//    chassisTaskHandle = osThreadCreate(osThread(ChassisTask), NULL);

//    osThreadDef(DETECT, detect_task, osPriorityNormal, 0, 256);
//    detect_handle = osThreadCreate(osThread(DETECT), NULL);
		
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* creation of chassis_task */
  chassis_taskHandle = osThreadNew(Chassis_Task, NULL, &chassis_task_attributes);

  /* creation of Arm_task */
  Arm_taskHandle = osThreadNew(Arm_Task, NULL, &Arm_task_attributes);

  /* creation of Shoot_task */
  Shoot_taskHandle = osThreadNew(Shoot_Task, NULL, &Shoot_task_attributes);

  /* creation of ErrorHandle_tas */
  ErrorHandle_tasHandle = osThreadNew(ErrorHandle_Task, NULL, &ErrorHandle_tas_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  for(;;)
  {
		Send_vofa();
    osDelay(1);
  }
  /* USER CODE END StartDefaultTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */

